Quadrotor System Design for a 3 DOF platform based on Iterative Learning Control

Abstract

Research into autonomous control and behaviour of mobile vehicles has become more and more widespread. Unmanned aerial vehicles (UAVs) have seen an upsurge of interest and of the many UAVs available, the quadrotor has shown significant potential in monitoring and surveillance tasks. This paper examines the performance of iterative learning control (ILC) in gradient-based control that enhances a quadrotor's controllability and stability during attitude control. It describes the development of the learning algorithms which exploit the repeated nature of the fault-finding task. Iterative learning control algorithms are derived and implemented on a quadrotor in a test bench. The proposed ILC algorithms on the quadrotor model are evaluated for system stability, convergence speed, and trajectory tracking error. Finally, the performance of the proposed algorithms is compared against a baseline performance of the PID control schemes.

An Advanced Unmanned Aerial Vehicle (UAV) Approach via Learning-Based Control for Overhead Power Line Monitoring: A Comprehensive Review

“…This simplicity aids usability but necessarily degrades performance. Thus, the authors in [141], [142] and [143] used the optimization based ILC approaches to address these limitations. In [141] and [142], the author examines the performance of ILC in gradient-based that enhances a quadrotor's controllability and stability during attitude control.…”

“…Thus, the authors in [141], [142] and [143] used the optimization based ILC approaches to address these limitations. In [141] and [142], the author examines the performance of ILC in gradient-based that enhances a quadrotor's controllability and stability during attitude control. Again in [143], the optimization based ILC approach has applied by researchers at ETH Zurich to achieve quadrotor trajectory tracking while balancing an inverted pendulum.…”

Application of Norm Optimal Iterative Learning Control to Quadrotor Unmanned Aerial Vehicle for Monitoring Overhead Power System

“…The properties of linear optimal algorithms have been studied extensively [33][34][35][36][37]. Leading ILC examples are now introduced with their own specific features.…”

“…From Equation (43) it can be deduced that e k+1 = e k if and only if β k = 0. Because GG T is a positive definite matrix, from Equation (34) we have that β new (k) = 0 if and only if e k = 0, Thus the conditions of Equation ( 36) are satisfied and the and the system has monotonic convergence.…”

“…The dynamics of standard quadrotors are well established, the main equations are given here. Details of the dynamics model can be found in [34], for example.…”